Guidance law for formation flight via desired position

A formation flight control scheme under the leader-follower concept is proposed. Desired positions for followers are derived using only the leader´s position information. The well-known PNG law is selected to guide the follower to the desired position, and a velocity command is added. We propose the minimum maneuver radius for the leader to prevent deformation by the leader´s excessive maneuver. The performance is evaluated via three-dimensional simulations.